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fix: host node should not be re_discovered

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wznln
2025-05-06 16:26:55 +08:00
parent 32e370a562
commit 49a9f05c51
1 changed files with 1 additions and 1 deletions
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unilabos/ros/nodes/presets/host_node.py
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@@ -102,7 +102,7 @@ class HostNode(BaseROS2DeviceNode):
self._action_clients: Dict[str, ActionClient] = {} # 用来存储多个ActionClient实例 self._action_clients: Dict[str, ActionClient] = {} # 用来存储多个ActionClient实例
self._action_value_mappings: Dict[str, Dict] = {} # 用来存储多个ActionClient的type, goal, feedback, result的变量名映射关系 self._action_value_mappings: Dict[str, Dict] = {} # 用来存储多个ActionClient的type, goal, feedback, result的变量名映射关系
self._goals: Dict[str, Any] = {} # 用来存储多个目标的状态 self._goals: Dict[str, Any] = {} # 用来存储多个目标的状态
self._online_devices: Set[str] = set() # 用于跟踪在线设备 self._online_devices: Set[str] = {f"{self.namespace}/{device_id}"} # 用于跟踪在线设备
self._last_discovery_time = 0.0 # 上次设备发现的时间 self._last_discovery_time = 0.0 # 上次设备发现的时间
self._discovery_lock = threading.Lock() # 设备发现的互斥锁 self._discovery_lock = threading.Lock() # 设备发现的互斥锁
self._subscribed_topics = set() # 用于跟踪已订阅的话题 self._subscribed_topics = set() # 用于跟踪已订阅的话题